From 02011a1e83236952b8c5ec60dab5eb0148f3d7be Mon Sep 17 00:00:00 2001
From: Mark Whitehorn <kd0aij@gmail.com>
Date: Fri, 6 Oct 2017 22:05:09 -0600
Subject: [PATCH] add FMUV3 to compatibility check

---
 src/VehicleSetup/FirmwareImage.cc | 21 +++++++++++++++++++--
 src/VehicleSetup/FirmwareImage.h  | 15 +--------------
 2 files changed, 20 insertions(+), 16 deletions(-)

diff --git a/src/VehicleSetup/FirmwareImage.cc b/src/VehicleSetup/FirmwareImage.cc
index 93042815c..0bc3c9288 100644
--- a/src/VehicleSetup/FirmwareImage.cc
+++ b/src/VehicleSetup/FirmwareImage.cc
@@ -194,6 +194,24 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
     return true;
 }
 
+bool FirmwareImage::isCompatible(uint32_t boardId, uint32_t firmwareId) {
+    bool result = false;
+    if (boardId == firmwareId ) {
+        result = true;
+    }
+    switch(boardId) {
+    case Bootloader::boardIDAUAVX2_1: // AUAVX2.1 is compatible with px4-v2/v3
+        if (firmwareId == 9) result = true;
+        break;
+    case Bootloader::boardIDPX4FMUV3:
+        if (firmwareId == 9) result = true;
+        break;
+    default:
+        break;
+    }
+    return result;
+}
+
 bool FirmwareImage::_px4Load(const QString& imageFilename)
 {
     _imageSize = 0;
@@ -237,8 +255,7 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     }
 
     uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
-    uint32_t actualBoardId = _boardId == Bootloader::boardIDPX4FMUV3 ? Bootloader::boardIDPX4FMUV2 : _boardId;;
-    if (!isCompatible(actualBoardId, firmwareBoardId)) {
+    if (!isCompatible(_boardId, firmwareBoardId)) {
         emit statusMessage(QString("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
         return false;
     }
diff --git a/src/VehicleSetup/FirmwareImage.h b/src/VehicleSetup/FirmwareImage.h
index 757bf6a7a..5a9935dda 100644
--- a/src/VehicleSetup/FirmwareImage.h
+++ b/src/VehicleSetup/FirmwareImage.h
@@ -57,20 +57,7 @@ public:
     bool ihxGetBlock(uint16_t index, uint16_t& address, QByteArray& bytes) const;
     
     /// @return true: actual boardId is compatible with firmware boardId
-    bool isCompatible(uint32_t boardId, uint32_t firmwareId) {
-        bool result = false;
-        if (boardId == firmwareId ) {
-            result = true;
-        }
-        switch(boardId) {
-        case 33: // AUAVX2.1 is compatible with px4-v2/v3
-            if (firmwareId == 9) result = true;
-            break;
-        default:
-            break;
-        }
-        return result;
-    }
+    bool isCompatible(uint32_t boardId, uint32_t firmwareId);
 
 signals:
     void errorMessage(const QString& errorString);
-- 
2.22.0